Indoor Delivery Robot

An indoor delivery robot for moving materials in factories, warehouses, labs and other indoor spaces. It follows a person wearing a UWB tag at a set distance, or can be driven with a handheld remote. Ultrasonic sensors stop it from running into obstacles, and it carries up to 200 kg in a lidded aluminium-frame box on four air-filled wheels.

Black aluminium-frame cargo robot on a lab floor, a hand in the foreground pointing a handheld remote at it, benches with test instruments and a potted plant behind — Driven by handheld remote in the electronics lab.

Two black box-shaped delivery robots with chunky air-filled wheels on a tiled floor, a small tracked robot in the background — Two units on the floor.

Black box-shaped delivery robot with a split lid and four air-filled wheels on a tiled floor, cardboard boxes and lab benches behind — Aluminium frame, split lid, 10-inch air-filled tires.

Tech stack

Main controller: ESP32 running FreeRTOS
Positioning: UWB modules front and rear (UART); follow distance 1–7 m, adjustable
Obstacle sensing: 4 ultrasonic sensors (RS485) and 6-axis IMU, multi-sensor fusion
Camera: 1080p camera with video streaming and recording
Drive: 4WD differential drive, in-place turning, 10-inch air-filled tires, PID / S-curve motor control
Power: 24 V 20 Ah battery with BMS; ≈4 h charge; up to 15 km per charge
Load & speed: ≤200 kg payload, ≈30 kg empty, up to 5 km/h, ≤10° slope, 5 cm obstacles
Remote: Handheld remote, ≤40 m range; optional 4G remote monitoring

What we built

Mechanical design: aluminium-frame body, lidded cargo box, 4WD chassis
Control hardware: ESP32 main board, motor drivers, power and BMS, sensor wiring
Embedded software: UWB follow algorithm, remote control, obstacle-avoidance logic, motor control
Status display (voltage, distance, sensor data) and video streaming

Development time

1 month

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